Journal of Bionic Engineering (2022) 19:688–699  https://doi.org/10.1007/s42235-022-00172-6  

Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot 

Wanting Li1  · Keping Liu1  · Chunxu Li2  · Zhongbo Sun1  · Shui Liu3  · Jian Gu1

1 Department of Control Engineering, Changchun University of Technology, Changchun 130012, China
2 Centre for Robotics and Neural Systems, University of Plymouth, Plymouth PL48AA, UK
3 School of Mechatronical Engineering, Changchun University of Technology, Changchun 130012, China 

Abstract  This paper introduces a rigid-fexible coupling wearable exoskeleton robot for lower limb, which is designed in light of gait biomechanics and benefcial for low limb movement disorders by implementing gait training. The rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC ADAMS. For the purposes of lightweight, the exoskeleton mechanism is optimized through fnite element analysis. It can be concluded from performance evaluation experiment, the mechanism has certain advantages over existing exoskeleton robots, namely, comfortable, lightweight, low cost, which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients. 

Keywords  Wearable rehabilitation robot · Biomechanics · Robot mechanism design · Virtual analysis

Machinery structure of lower limb rehabilitation robot